25 results
(View BibTeX file of all listed publications)
2014
Model transport: towards scalable transfer learning on manifolds - supplemental material
Freifeld, O., Hauberg, S., Black, M. J.
(9), April 2014 (techreport)
This technical report is complementary to "Model Transport: Towards Scalable Transfer Learning on Manifolds" and contains proofs, explanation of the attached video (visualization of bases from the body shape experiments), and high-resolution images of select results of individual reconstructions from the shape experiments. It is identical to the supplemental mate- rial submitted to the Conference on Computer Vision and Pattern Recognition (CVPR 2014) on November 2013.
RoCKIn@Work in a Nutshell
Ahmad, A., Amigoni, A., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., Schneider, S.
(FP7-ICT-601012 Revision 1.2), RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, March 2014 (techreport)
The main purpose of RoCKIn@Work is to foster innovation in industrial service robotics. Innovative robot applications for industry call for the capability to work interactively with humans and reduced initial programming requirements. This will open new opportunities to automate challenging manufacturing processes, even for small to medium-sized lots and highly customer-specific production requirements. Thereby, the RoCKIn competitions pave the way for technology transfer and contribute to the continued commercial
competitiveness of European industry.
RoCKIn@Home in a Nutshell
Ahmad, A., Amigoni, F., Awaad, I., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schneider, S.
(FP7-ICT-601012 Revision 0.8), RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, March 2014 (techreport)
RoCKIn@Home is a competition that aims at bringing together the benefits of scientific benchmarking with the attraction of scientific competitions in the realm of domestic service robotics. The objectives are to bolster research in service robotics for home applications and to raise public awareness of the current and future capabilities of such robot
systems to meet societal challenges like healthy ageing and longer independent living.
2013
Puppet Flow
(7), Max Planck Institute for Intelligent Systems, October 2013 (techreport)
We introduce Puppet Flow (PF), a layered model describing the optical flow of a person in a video sequence. We consider video frames composed by two layers: a foreground layer corresponding to a person, and background.
We model the background as an affine flow field. The foreground layer, being a moving person, requires reasoning about the articulated nature of the human body. We thus represent the foreground layer with the Deformable Structures model (DS), a parametrized 2D part-based human body representation. We call the motion field defined through articulated motion and deformation of the DS model, a Puppet Flow. By exploiting the DS representation, Puppet Flow is a parametrized optical flow field, where parameters are the person's pose, gender and body shape.
D2.1.4 RoCKIn@Work - Innovation in Mobile Industrial Manipulation Competition Design, Rule Book, and Scenario Construction
Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schneider, S.
(FP7-ICT-601012 Revision 0.7), RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, sep 2013 (techreport)
RoCKIn is a EU-funded project aiming to foster scientific progress and innovation in cognitive systems and robotics through the design and implementation of competitions.
An additional objective of RoCKIn is to increase public awareness of the current state-of-the-art in robotics in Europe and to demonstrate the innovation potential of robotics applications for solving societal challenges and improving the competitiveness of Europe in the global markets.
In order to achieve these objectives, RoCKIn develops two competitions, one for domestic service robots (RoCKIn@Home) and one for industrial robots in factories (RoCKIn-@Work). These competitions are designed around challenges that are based on easy-to-communicate and convincing user stories, which catch the interest of both the general public and the scientifc community. The latter is in particular interested in solving open scientific challenges and to thoroughly assess, compare, and evaluate the developed approaches with competing ones. To allow this to happen, the competitions are designed to meet the requirements of benchmarking procedures and good experimental methods.
The integration of benchmarking technology with the competition concept is one of the main objectives of RoCKIn.
This document describes the first version of the RoCKIn@Work competition, which will be held for the first time in 2014. The first chapter of the document gives a brief overview, outlining the purpose and objective of the competition, the methodological approach taken by the RoCKIn project, the user story upon which the competition is based, the structure and organization of the competition, and the commonalities and differences
with the RoboCup@Work competition, which served as inspiration for RoCKIn@Work.
The second chapter provides details on the user story and analyzes the scientific and technical challenges it poses. Consecutive chapters detail the competition scenario, the
competition design, and the organization of the competition. The appendices contain information on a library of functionalities, which we believe are needed, or at least useful, for building competition entries, details on the scenario construction, and a detailed account of the benchmarking infrastructure needed — and provided by RoCKIn.
D2.1.1 RoCKIn@Home - A Competition for Domestic Service Robots Competition Design, Rule Book, and Scenario Construction
Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schneider, S.
(FP7-ICT-601012 Revision 0.7), RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, sep 2013 (techreport)
RoCKIn is a EU-funded project aiming to foster scientific progress and innovation in cognitive systems and robotics through the design and implementation of competitions.
An additional objective of RoCKIn is to increase public awareness of the current state-of-the-art in robotics in Europe and to demonstrate the innovation potential of robotics applications for solving societal challenges and improving the competitiveness of Europe in the global markets.
In order to achieve these objectives, RoCKIn develops two competitions, one for domestic service robots (RoCKIn@Home) and one for industrial robots in factories (RoCKIn-@Work). These competitions are designed around challenges that are based on easy-to-communicate and convincing user stories, which catch the interest of both the general public and the scientifc community. The latter is in particular interested in solving open scientific challenges and to thoroughly assess, compare, and evaluate the developed approaches with competing ones. To allow this to happen, the competitions are designed to meet the requirements of benchmarking procedures and good experimental methods.
The integration of benchmarking technology with the competition concept is one of the main objectives of RoCKIn.
This document describes the first version of the RoCKIn@Home competition, which will be held for the first time in 2014. The first chapter of the document gives a brief overview, outlining the purpose and objective of the competition, the methodological approach taken by the RoCKIn project, the user story upon which the competition is based, the structure and organization of the competition, and the commonalities and differences
with the RoboCup@Home competition, which served as inspiration for RoCKIn@Home.
The second chapter provides details on the user story and analyzes the scientific and technical challenges it poses. Consecutive chapters detail the competition scenario, the
competition design, and the organization of the competition. The appendices contain information on a library of functionalities, which we believe are needed, or at least useful, for building competition entries, details on the scenario construction, and a detailed account of the benchmarking infrastructure needed — and provided by RoCKIn.
D1.1 Specification of General Features of Scenarios and Robots for Benchmarking Through Competitions
Ahmad, A., Awaad, I., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Fontana, G., Hegger, F., Hochgeschwender, N., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Schiaffonati, V., Schneider, S.
(FP7-ICT-601012 Revision 1.0), RoCKIn - Robot Competitions Kick Innovation in Cognitive Systems and Robotics, July 2013 (techreport)
RoCKIn is a EU-funded project aiming to foster scientific progress and innovation in cognitive systems and robotics through the design and implementation of competitions.
An additional objective of RoCKIn is to increase public awareness of the current state-of-the-art in robotics and the innovation potential of robotics applications. From these objectives several requirements for the work performed in RoCKIn can be derived:
The RoCKIn competitions must start from convincing, easy-to-communicate user stories, that catch the attention of relevant stakeholders, the media, and the crowd. The user stories play the role of a mid- to long-term vision for a competition. Preferably, the user stories address economic, societal, or environmental problems.
The RoCKIn competitions must pose open scientific challenges of interest to sufficiently many researchers to attract existing and new teams of robotics researchers
for participation in the competition. The competitions need to promise some suitable reward, such as recognition in the scientific community, publicity for a team’s work, awards, or prize money, to justify the effort a team puts into the development of a competition entry. The competitions should be designed in such a way that they reward general, scientifically sound solutions to the challenge problems; such general solutions should score better than approaches that work only in narrowly defined contexts and are considred over-engineered.
The challenges motivating the RoCKIn competitions must be broken down into suitable intermediate goals that can be reached with a limited team effort until the next competition and the project duration.
The RoCKIn competitions must be well-defined and well-designed, with comprehensive rule books and instructions for the participants in order to guarantee a fair competition.
The RoCKIn competitions must integrate competitions with benchmarking in order to provide comprehensive feedback for the teams about the suitability of particular functional modules, their overall architecture, and system integration.
This document takes the first steps towards the RoCKIn goals. After outlining our approach, we present several user stories for further discussion within the community. The main objectives of this document are to identify and document relevant scenario features and the tasks and functionalities subject for benchmarking in the competitions.
SocRob-MSL 2013 Team Description Paper for Middle Sized League
Messias, J., Ahmad, A., Reis, J., Serafim, M., Lima, P.
17th Annual RoboCup International Symposium 2013, 2013 (techreport)
This paper describes the status of the SocRob MSL robotic soccer team as required by the RoboCup 2013 qualification procedures. The team’s latest scientific and technical developments, since its last participation in RoboCup
MSL, include further advances in cooperative perception; novel communication methods for distributed robotics; progressive deployment of the ROS middleware; improved localization through feature tracking and Mixture MCL; novel
planning methods based on Petri nets and decision-theoretic frameworks; and hardware developments in ball-handling/kicking devices.
A Quantitative Analysis of Current Practices in Optical Flow Estimation and the Principles Behind Them
Sun, D., Roth, S., Black, M. J.
(CS-10-03), Brown University, Department of Computer Science, January 2013 (techreport)
2012
Coregistration: Supplemental Material
(No. 4), Max Planck Institute for Intelligent Systems, October 2012 (techreport)
Lie Bodies: A Manifold Representation of 3D Human Shape. Supplemental Material
(No. 5), Max Planck Institute for Intelligent Systems, October 2012 (techreport)
MPI-Sintel Optical Flow Benchmark: Supplemental Material
(No. 6), Max Planck Institute for Intelligent Systems, October 2012 (techreport)
HUMIM Software for Articulated Tracking
Hauberg, S., Pedersen, K. S.
(01/2012), Department of Computer Science, University of Copenhagen, January 2012 (techreport)
A geometric framework for statistics on trees
Feragen, A., Nielsen, M., Hauberg, S., Lo, P., Bruijne, M. D., Lauze, F.
(11/02), Department of Computer Science, University of Copenhagen, January 2012 (techreport)
2011
ISocRob-MSL 2011 Team Description Paper for Middle Sized League
Messias, J., Ahmad, A., Reis, J., Sousa, J., Lima, P.
15th Annual RoboCup International Symposium 2011, 2011 (techreport)
This paper describes the status of the ISocRob MSL robotic soccer team as required by the RoboCup 2011 qualification procedures. The most relevant technical and scientifical developments carried out by the team, since its last
participation in the RoboCup MSL competitions, are here detailed. These include cooperative localization, cooperative object tracking, planning under uncertainty, obstacle detection and improvements to self-localization.
2010
ImageFlow: Streaming Image Search
Jampani, V., Ramos, G., Drucker, S.
MSR-TR-2010-148, Microsoft Research, Redmond, 2010 (techreport)
Traditional grid and list representations of image search results are the dominant interaction paradigms that users face on a daily basis, yet it is unclear that such paradigms are well-suited for experiences where the user‟s task is to browse images for leisure, to discover new information or to seek particular images to represent ideas. We introduce ImageFlow, a novel image search user interface that ex-plores a different alternative to the traditional presentation of image search results. ImageFlow presents image results on a canvas where we map semantic features (e.g., rele-vance, related queries) to the canvas‟ spatial dimensions (e.g., x, y, z) in a way that allows for several levels of en-gagement – from passively viewing a stream of images, to seamlessly navigating through the semantic space and ac-tively collecting images for sharing and reuse. We have implemented our system as a fully functioning prototype, and we report on promising, preliminary usage results.
2009
ISocRob-MSL 2009 Team Description Paper for Middle Sized League
Lima, P., Santos, J., Estilita, J., Barbosa, M., Ahmad, A., Carreira, J.
13th Annual RoboCup International Symposium 2009, July 2009 (techreport)
This paper describes the status of the ISocRob MSL roboticsoccer team as required by the RoboCup 2009 qualification procedures.Since its previous participation in RoboCup, the ISocRob team has car-ried out significant developments in various topics, the most relevantof which are presented here. These include self-localization, 3D objecttracking and cooperative object localization, motion control and rela-tional behaviors. A brief description of the hardware of the ISocRobrobots and of the software architecture adopted by the team is also in-cluded.
Automatic recognition of rodent behavior: A tool for systematic phenotypic analysis
Serre, T., Jhuang, H., Garrote, E., Poggio, T., Steele, A.
CBCL paper #283/MIT-CSAIL-TR #2009-052., MIT, 2009 (techreport)
Incremental nonparametric Bayesian regression
Wood, F., Grollman, D. H., Heller, K. A., Jenkins, O. C., Black, M. J.
(CS-08-07), Brown University, Department of Computer Science, 2008 (techreport)
2007
Denoising archival films using a learned Bayesian model
Moldovan, T. M., Roth, S., Black, M. J.
(CS-07-03), Brown University, Department of Computer Science, 2007 (techreport)
2006
Implicit Wiener Series, Part II: Regularised estimation
(148), Max Planck Institute, 2006 (techreport)
HumanEva: Synchronized video and motion capture dataset for evaluation of articulated human motion
Sigal, L., Black, M. J.
(CS-06-08), Brown University, Department of Computer Science, 2006 (techreport)
1996
Mixture Models for Image Representation
Jepson, A., Black, M.
PRECARN ARK Project Technical Report ARK96-PUB-54, March 1996 (techreport)
We consider the estimation of local greylevel image structure in terms of a layered representation. This type of representation has recently been successfully used to segment various objects from clutter using either optical ow or stereo disparity information. We argue that the same type of representation is useful for greylevel data in that it allows for the estimation of properties for each of several different components without prior segmentation. Our emphasis in this paper is on the process used to extract such a layered representation from a given image In particular we consider a variant of the EM algorithm for the estimation of the layered model and consider a
novel technique for choosing the number of layers to use. We briefly consider the use of a simple version of this approach for image segmentation and suggest two potential applications to the ARK project